GTSAM 2.3.1 Changes (from 2.3.0)
GTSAM 2.3.1 is a minor update from 2.3.0. This release makes improvements to the IMU summary factors. These factors allow the use of high-rate IMUs in smoothing by summarizing many IMU measurements into one, in a way that still permits efficient and accurate relinearization and estimation of biases, closely following the methods of Lupton and Sukkarieh in TRO 2012. Specific changes include:
- IMU summary factors now use analytic derivatives for further speedup.
- Simplified IMU factor API - see ImuFactor andCombinedImuFactor, in the gtsam/navigation subdirectory.
- Example of using the new IMU factor with the KITTI dataset, using the GTSAM MATLAB toolbox, IMUKittiExampleGPS.m.
- Fixed indexing bug in KalmanFilter that made solving slow down over time.
- Upgraded internal Eigen version to 3.2.0.
- Other small API and build system improvements.
Older change lists:
